In general each road is different and I would say that whilst I would prefer to filter on the right sometimes I feel it is safer on the left. However whilst passing stationary traffic you need to be aware that the passenger may decide to exit the vehicle at that very point and the first thing you know is when the door opens in front of you.
Indeed, I saw a car stop a couple metres short of a junction last night (hadn't pulled over to the kerb), the passenger opened her door and *bang* and knocked a cyclist clean off her bike. The cyclist was ok but very peed off!